1 #include <stdint.h>
2 #include <stdio.h>
3 #include <string.h>
4 #include <stdlib.h>
5
6 #include "py/lexer.h"
7 #include "py/runtime.h"
8 #include "py/stackctrl.h"
9 #include "py/gc.h"
10 #include "py/mphal.h"
11 #include "gccollect.h"
12 #include "shared/readline/readline.h"
13 #include "shared/runtime/gchelper.h"
14 #include "shared/runtime/pyexec.h"
15 #include "lexermemzip.h"
16
17 #include "Arduino.h"
18
19 #include "servo.h"
20 #include "led.h"
21 #include "uart.h"
22 #include "pin.h"
23
24 extern uint32_t _heap_start;
25
flash_error(int n)26 void flash_error(int n) {
27 for (int i = 0; i < n; i++) {
28 led_state(PYB_LED_BUILTIN, 1);
29 delay(250);
30 led_state(PYB_LED_BUILTIN, 0);
31 delay(250);
32 }
33 }
34
__fatal_error(const char * msg)35 void NORETURN __fatal_error(const char *msg) {
36 for (volatile uint delay = 0; delay < 10000000; delay++) {
37 }
38 led_state(1, 1);
39 led_state(2, 1);
40 led_state(3, 1);
41 led_state(4, 1);
42 mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
43 mp_hal_stdout_tx_strn(msg, strlen(msg));
44 for (uint i = 0;;) {
45 led_toggle(((i++) & 3) + 1);
46 for (volatile uint delay = 0; delay < 10000000; delay++) {
47 }
48 if (i >= 16) {
49 // to conserve power
50 __WFI();
51 }
52 }
53 }
54
nlr_jump_fail(void * val)55 void nlr_jump_fail(void *val) {
56 printf("FATAL: uncaught exception %p\n", val);
57 __fatal_error("");
58 }
59
__assert_func(const char * file,int line,const char * func,const char * expr)60 void __assert_func(const char *file, int line, const char *func, const char *expr) {
61
62 printf("Assertion failed: %s, file %s, line %d\n", expr, file, line);
63 __fatal_error("");
64 }
65
pyb_analog_read(mp_obj_t pin_obj)66 mp_obj_t pyb_analog_read(mp_obj_t pin_obj) {
67 uint pin = mp_obj_get_int(pin_obj);
68 int val = analogRead(pin);
69 return MP_OBJ_NEW_SMALL_INT(val);
70 }
71
pyb_analog_write(mp_obj_t pin_obj,mp_obj_t val_obj)72 mp_obj_t pyb_analog_write(mp_obj_t pin_obj, mp_obj_t val_obj) {
73 uint pin = mp_obj_get_int(pin_obj);
74 int val = mp_obj_get_int(val_obj);
75 analogWrite(pin, val);
76 return mp_const_none;
77 }
78
pyb_analog_write_resolution(mp_obj_t res_obj)79 mp_obj_t pyb_analog_write_resolution(mp_obj_t res_obj) {
80 int res = mp_obj_get_int(res_obj);
81 analogWriteResolution(res);
82 return mp_const_none;
83 }
84
pyb_analog_write_frequency(mp_obj_t pin_obj,mp_obj_t freq_obj)85 mp_obj_t pyb_analog_write_frequency(mp_obj_t pin_obj, mp_obj_t freq_obj) {
86 uint pin = mp_obj_get_int(pin_obj);
87 int freq = mp_obj_get_int(freq_obj);
88 analogWriteFrequency(pin, freq);
89 return mp_const_none;
90 }
91
92 #if 0
93 // get lots of info about the board
94 static mp_obj_t pyb_info(void) {
95 // get and print unique id; 96 bits
96 {
97 byte *id = (byte *)0x40048058;
98 printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
99 }
100
101 // get and print clock speeds
102 printf("CPU=%u\nBUS=%u\nMEM=%u\n", F_CPU, F_BUS, F_MEM);
103
104 // to print info about memory
105 {
106 printf("_sdata=%p\n", &_sdata);
107 printf("_edata=%p\n", &_edata);
108 printf("_sbss=%p\n", &_sbss);
109 printf("_ebss=%p\n", &_ebss);
110 printf("_estack=%p\n", &_estack);
111 printf("_etext=%p\n", &_etext);
112 printf("_heap_start=%p\n", &_heap_start);
113 }
114
115 // GC info
116 {
117 gc_info_t info;
118 gc_info(&info);
119 printf("GC:\n");
120 printf(" %u total\n", info.total);
121 printf(" %u used %u free\n", info.used, info.free);
122 printf(" 1=%u 2=%u m=%u\n", info.num_1block, info.num_2block, info.max_block);
123 }
124
125 #if 0
126 // free space on flash
127 {
128 DWORD nclst;
129 FATFS *fatfs;
130 f_getfree("0:", &nclst, &fatfs);
131 printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
132 }
133 #endif
134
135 return mp_const_none;
136 }
137
138 #endif
139
140 #define RAM_START (0x1FFF8000) // fixed for chip
141 #define HEAP_END (0x20006000) // tunable
142 #define RAM_END (0x20008000) // fixed for chip
143
144 #if 0
145
146 void gc_helper_get_regs_and_clean_stack(mp_uint_t *regs, mp_uint_t heap_end);
147
148 mp_obj_t pyb_gc(void) {
149 gc_collect();
150 return mp_const_none;
151 }
152
153 mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) {
154 // assert(1 <= n_args && n_args <= 2);
155
156 uint pin = mp_obj_get_int(args[0]);
157 if (pin > CORE_NUM_DIGITAL) {
158 goto pin_error;
159 }
160
161 if (n_args == 1) {
162 // get pin
163 pinMode(pin, INPUT);
164 return MP_OBJ_NEW_SMALL_INT(digitalRead(pin));
165 }
166
167 // set pin
168 pinMode(pin, OUTPUT);
169 digitalWrite(pin, mp_obj_is_true(args[1]));
170 return mp_const_none;
171
172 pin_error:
173 mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("pin %d does not exist"), pin);
174 }
175
176 MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);
177
178 #if 0
179 mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
180 mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
181 uint8_t data[4];
182 data[0] = mp_obj_get_int(items[0]);
183 data[1] = mp_obj_get_int(items[1]);
184 data[2] = mp_obj_get_int(items[2]);
185 data[3] = mp_obj_get_int(items[3]);
186 usb_hid_send_report(data);
187 return mp_const_none;
188 }
189 #endif
190
191 #endif // 0
192
193 STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
194 STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
195 STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
196
pyb_source_dir(mp_obj_t source_dir)197 mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
198 if (mp_obj_is_str(source_dir)) {
199 pyb_config_source_dir = source_dir;
200 }
201 return mp_const_none;
202 }
203
204 MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
205
pyb_main(mp_obj_t main)206 mp_obj_t pyb_main(mp_obj_t main) {
207 if (mp_obj_is_str(main)) {
208 pyb_config_main = main;
209 }
210 return mp_const_none;
211 }
212
213 MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
214
pyb_usb_mode(mp_obj_t usb_mode)215 STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
216 if (mp_obj_is_str(usb_mode)) {
217 pyb_config_usb_mode = usb_mode;
218 }
219 return mp_const_none;
220 }
221
222 MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);
223
224 #if 0
225
226 mp_obj_t pyb_delay(mp_obj_t count) {
227 delay(mp_obj_get_int(count));
228 return mp_const_none;
229 }
230
231 mp_obj_t pyb_led(mp_obj_t state) {
232 led_state(PYB_LED_BUILTIN, mp_obj_is_true(state));
233 return state;
234 }
235
236 #endif // 0
237
238 #if 0
239 char *strdup(const char *str) {
240 uint32_t len = strlen(str);
241 char *s2 = m_new(char, len + 1);
242 memcpy(s2, str, len);
243 s2[len] = 0;
244 return s2;
245 }
246 #endif
247
main(void)248 int main(void) {
249 // TODO: Put this in a more common initialization function.
250 // Turn on STKALIGN which keeps the stack 8-byte aligned for interrupts
251 // (per EABI)
252 #define SCB_CCR_STKALIGN (1 << 9)
253 SCB_CCR |= SCB_CCR_STKALIGN;
254
255 mp_stack_ctrl_init();
256 mp_stack_set_limit(10240);
257
258 pinMode(LED_BUILTIN, OUTPUT);
259 led_init();
260
261 // int first_soft_reset = true;
262
263 soft_reset:
264
265 led_state(PYB_LED_BUILTIN, 1);
266
267 // GC init
268 gc_init(&_heap_start, (void *)HEAP_END);
269
270 // MicroPython init
271 mp_init();
272 mp_obj_list_init(mp_sys_path, 0);
273 mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // current dir (or base dir of the script)
274 mp_obj_list_init(mp_sys_argv, 0);
275
276 readline_init0();
277
278 pin_init0();
279
280 #if 0
281 // add some functions to the python namespace
282 {
283 mp_store_name(MP_QSTR_help, mp_make_function_n(0, pyb_help));
284 mp_obj_t m = mp_obj_new_module(MP_QSTR_pyb);
285 mp_store_attr(m, MP_QSTR_info, mp_make_function_n(0, pyb_info));
286 mp_store_attr(m, MP_QSTR_source_dir, mp_make_function_n(1, pyb_source_dir));
287 mp_store_attr(m, MP_QSTR_main, mp_make_function_n(1, pyb_main));
288 mp_store_attr(m, MP_QSTR_gc, mp_make_function_n(0, pyb_gc));
289 mp_store_attr(m, MP_QSTR_delay, mp_make_function_n(1, pyb_delay));
290 mp_store_attr(m, MP_QSTR_led, mp_make_function_n(1, pyb_led));
291 mp_store_attr(m, MP_QSTR_LED, (mp_obj_t)&pyb_led_type);
292 mp_store_attr(m, MP_QSTR_analogRead, mp_make_function_n(1, pyb_analog_read));
293 mp_store_attr(m, MP_QSTR_analogWrite, mp_make_function_n(2, pyb_analog_write));
294 mp_store_attr(m, MP_QSTR_analogWriteResolution, mp_make_function_n(1, pyb_analog_write_resolution));
295 mp_store_attr(m, MP_QSTR_analogWriteFrequency, mp_make_function_n(2, pyb_analog_write_frequency));
296
297 mp_store_attr(m, MP_QSTR_gpio, (mp_obj_t)&pyb_gpio_obj);
298 mp_store_attr(m, MP_QSTR_Servo, mp_make_function_n(0, pyb_Servo));
299 mp_store_name(MP_QSTR_pyb, m);
300 }
301 #endif
302
303 #if MICROPY_MODULE_FROZEN
304 pyexec_frozen_module("boot.py");
305 #else
306 if (!pyexec_file_if_exists("/boot.py")) {
307 flash_error(4);
308 }
309 #endif
310
311 // Turn bootup LED off
312 led_state(PYB_LED_BUILTIN, 0);
313
314 // run main script
315 #if MICROPY_MODULE_FROZEN
316 pyexec_frozen_module("main.py");
317 #else
318 {
319 vstr_t *vstr = vstr_new(16);
320 vstr_add_str(vstr, "/");
321 if (pyb_config_main == MP_OBJ_NULL) {
322 vstr_add_str(vstr, "main.py");
323 } else {
324 vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
325 }
326 if (!pyexec_file_if_exists(vstr_null_terminated_str(vstr))) {
327 flash_error(3);
328 }
329 vstr_free(vstr);
330 }
331 #endif
332
333 // enter REPL
334 // REPL mode can change, or it can request a soft reset
335 for (;;) {
336 if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
337 if (pyexec_raw_repl() != 0) {
338 break;
339 }
340 } else {
341 if (pyexec_friendly_repl() != 0) {
342 break;
343 }
344 }
345 }
346
347 printf("MPY: soft reboot\n");
348
349 // first_soft_reset = false;
350 goto soft_reset;
351 }
352
gc_collect(void)353 void gc_collect(void) {
354 gc_collect_start();
355 gc_helper_collect_regs_and_stack();
356 gc_collect_end();
357 }
358
359 // stub out __libc_init_array. It's called by mk20dx128.c and is used to call
360 // global C++ constructors. Since this is a C-only projects, we don't need to
361 // call constructors.
__libc_init_array(void)362 void __libc_init_array(void) {
363 }
364
365 // ultoa is used by usb_init_serialnumber. Normally ultoa would be provided
366 // by nonstd.c from the teensy core, but it conflicts with some of the
367 // MicroPython functions in string0.c, so we provide ultoa here.
ultoa(unsigned long val,char * buf,int radix)368 char *ultoa(unsigned long val, char *buf, int radix) {
369 unsigned digit;
370 int i = 0, j;
371 char t;
372
373 while (1) {
374 digit = val % radix;
375 buf[i] = ((digit < 10) ? '0' + digit : 'A' + digit - 10);
376 val /= radix;
377 if (val == 0) {
378 break;
379 }
380 i++;
381 }
382 buf[i + 1] = 0;
383 for (j = 0; j < i; j++, i--) {
384 t = buf[j];
385 buf[j] = buf[i];
386 buf[i] = t;
387 }
388 return buf;
389 }
390